Controller Update 3

scripts/run_autonomous.sh

@@ -22,17 +22,22 @@ print_error() { echo -e "${RED}[ERROR]${NC} $1"; }
 SOFTWARE_RENDER=false
 WORLD="iris_runway.sdf"
 MISSION="hover"  # hover, square, circle
+USE_CONSOLE=true  # Show MAVProxy console by default
 
 while [[ $# -gt 0 ]]; do
     case $1 in
         --software-render) SOFTWARE_RENDER=true; shift ;;
         --world) WORLD="$2"; shift 2 ;;
         --mission) MISSION="$2"; shift 2 ;;
+        --no-console) USE_CONSOLE=false; shift ;;
+        --console) USE_CONSOLE=true; shift ;;
         -h|--help)
             echo "Usage: $0 [options]"
             echo "  --software-render   Use software rendering (WSL/no GPU)"
             echo "  --world <file>      World file to load (default: iris_runway.sdf)"
             echo "  --mission <type>    Mission type: hover, square, circle (default: hover)"
+            echo "  --console           Show MAVProxy console (default: on)"
+            echo "  --no-console        Hide MAVProxy console"
             exit 0
             ;;
         *) shift ;;
@@ -45,6 +50,7 @@ cleanup() {
     pkill -f "gz sim" 2>/dev/null || true
     pkill -f "arducopter" 2>/dev/null || true
     pkill -f "sim_vehicle.py" 2>/dev/null || true
+    pkill -f "mavproxy" 2>/dev/null || true
     pkill -f "autonomous_controller.py" 2>/dev/null || true
 }
 trap cleanup EXIT
@@ -87,15 +93,26 @@ print_success "Gazebo running (PID: $GZ_PID)"
 print_info "Starting ArduPilot SITL..."
 cd ~/ardupilot
 
+# Build SITL command
+SITL_ARGS="-v ArduCopter -f gazebo-iris --model JSON -I0"
+
+# Add console/map if requested
+if [ "$USE_CONSOLE" = true ]; then
+    SITL_ARGS="$SITL_ARGS --console --map"
+    print_info "MAVProxy console enabled"
+else
+    SITL_ARGS="$SITL_ARGS --no-mavproxy"
+fi
+
 # Check if custom param file exists
 PARAM_FILE="$PROJECT_DIR/config/ardupilot_gps_denied.parm"
 if [ -f "$PARAM_FILE" ]; then
     print_info "Loading GPS-denied parameters..."
-    sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --no-mavproxy -I0 \
-        --add-param-file "$PARAM_FILE" &
-else
-    sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --no-mavproxy -I0 &
+    SITL_ARGS="$SITL_ARGS --add-param-file $PARAM_FILE"
 fi
+
+# Start SITL
+sim_vehicle.py $SITL_ARGS &
 SITL_PID=$!
 
 # Wait longer for SITL to fully initialize